[ros-users] Add MESH into planning scene collision object FAILED

[Arkapravo Bhaumik]

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On 11 March 2012 03:11, Paul Heran Yang <heranyang at gmail.com> wrote:

> Hi all,
>
> I've been trying to add meshes into collision object, but always get
> error: "Unable to compute convex hull"
>
>     trimesh_object.type = arm_navigation_msgs::Shape::MESH;
>     for (int i = 0; i < 3; i++) {
>         geometry_msgs::Point p;
>         p.x = i;
>         p.y = i+1;
>         p.z = i+2;
>         trimesh_object.vertices.push_back(p);
>     }
>
>     // then add {0, 1, 2} into trimesh_object.triangles
>     collision_object.shapes.push_back(trimesh_object);
>
>     geometry_msgs::Pose pose;
>     collision_object.poses.push_back(pose);
>
>     ...
>
>
> planning_scene_req.planning_scene_diff.collision_objects.push_back(collision_object);
>     get_planning_scene_client.call(planning_scene_req, planning_scene_res)
> ...
>
> I've followed the instructions on
> http://www.ros.org/wiki/arm_navigation/Tutorials/Planning%20Scene/Adding%20Virtual%20Objects%20to%20the%20Planning%20Scene
>
> All I'm trying to do is just to add a simple triangle into the scene, but
> so far no luck. The above code just adds {0,1,2},{1,2,3},{2,3,4} into it. I
> also tried {0,0,1},{0,1,0},{1,0,0}. Nothing works.
>
> I don't get why there's "unable to compute convex hull" error. Thanks in
> advance.
>
> -Paul
>
>
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